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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef ACCELEROMETER_H_
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#define ACCELEROMETER_H_
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#include "AnalogChannel.h"
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#include "SensorBase.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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/**
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* Handle operation of the accelerometer.
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* The accelerometer reads acceleration directly through the sensor. Many sensors have
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* multiple axis and can be treated as multiple devices. Each is calibrated by finding
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* the center value over a period of time.
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*/
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class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSendable {
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public:
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explicit Accelerometer(uint32_t channel);
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Accelerometer(uint8_t moduleNumber, uint32_t channel);
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explicit Accelerometer(AnalogChannel *channel);
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virtual ~Accelerometer();
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float GetAcceleration();
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void SetSensitivity(float sensitivity);
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void SetZero(float zero);
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double PIDGet();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitAccelerometer();
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AnalogChannel *m_analogChannel;
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float m_voltsPerG;
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float m_zeroGVoltage;
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bool m_allocatedChannel;
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ITable *m_table;
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};
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#endif
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